A dual arms robotic platform control for navigation, inspection and telemanipulation

High intensity hadron colliders and fixed target experiments require an increasing amount of robotic tele-manipulation to prevent excessive exposure of maintenance personnel to the radioactive environment. Telemanipulation tasks are often required on old radioactive devices not conceived to be maint...

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Autores principales: Di Castro, Mario, Buonocore, Luca Rosario, Ferre, Manuel, Gilardoni, Simone, Losito, Roberto, Lunghi, Giacomo, Masi, Alessandro
Lenguaje:eng
Publicado: 2018
Materias:
Acceso en línea:https://dx.doi.org/10.18429/JACoW-ICALEPCS2017-TUPHA127
http://cds.cern.ch/record/2305665
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author Di Castro, Mario
Buonocore, Luca Rosario
Ferre, Manuel
Gilardoni, Simone
Losito, Roberto
Lunghi, Giacomo
Masi, Alessandro
author_facet Di Castro, Mario
Buonocore, Luca Rosario
Ferre, Manuel
Gilardoni, Simone
Losito, Roberto
Lunghi, Giacomo
Masi, Alessandro
author_sort Di Castro, Mario
collection CERN
description High intensity hadron colliders and fixed target experiments require an increasing amount of robotic tele-manipulation to prevent excessive exposure of maintenance personnel to the radioactive environment. Telemanipulation tasks are often required on old radioactive devices not conceived to be maintained and handled using standard industrial robotic solutions. Robotic platforms with a level of dexterity that often require the use of two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual robotic arm system is presented. The control of the arms is fully integrated with the vehicle control in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low level safety layer for anti-collision and recovery scenarios. Preliminary results of the system commissioning are presented using CERN accelerator facilities as a use case.
id oai-inspirehep.net-1656227
institution Organización Europea para la Investigación Nuclear
language eng
publishDate 2018
record_format invenio
spelling oai-inspirehep.net-16562272019-09-30T06:29:59Zdoi:10.18429/JACoW-ICALEPCS2017-TUPHA127http://cds.cern.ch/record/2305665engDi Castro, MarioBuonocore, Luca RosarioFerre, ManuelGilardoni, SimoneLosito, RobertoLunghi, GiacomoMasi, AlessandroA dual arms robotic platform control for navigation, inspection and telemanipulationAccelerators and Storage RingsHigh intensity hadron colliders and fixed target experiments require an increasing amount of robotic tele-manipulation to prevent excessive exposure of maintenance personnel to the radioactive environment. Telemanipulation tasks are often required on old radioactive devices not conceived to be maintained and handled using standard industrial robotic solutions. Robotic platforms with a level of dexterity that often require the use of two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual robotic arm system is presented. The control of the arms is fully integrated with the vehicle control in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low level safety layer for anti-collision and recovery scenarios. Preliminary results of the system commissioning are presented using CERN accelerator facilities as a use case.oai:inspirehep.net:16562272018
spellingShingle Accelerators and Storage Rings
Di Castro, Mario
Buonocore, Luca Rosario
Ferre, Manuel
Gilardoni, Simone
Losito, Roberto
Lunghi, Giacomo
Masi, Alessandro
A dual arms robotic platform control for navigation, inspection and telemanipulation
title A dual arms robotic platform control for navigation, inspection and telemanipulation
title_full A dual arms robotic platform control for navigation, inspection and telemanipulation
title_fullStr A dual arms robotic platform control for navigation, inspection and telemanipulation
title_full_unstemmed A dual arms robotic platform control for navigation, inspection and telemanipulation
title_short A dual arms robotic platform control for navigation, inspection and telemanipulation
title_sort dual arms robotic platform control for navigation, inspection and telemanipulation
topic Accelerators and Storage Rings
url https://dx.doi.org/10.18429/JACoW-ICALEPCS2017-TUPHA127
http://cds.cern.ch/record/2305665
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